The Configuration Space Toolkit (C-Space Toolkit or CSTK) Ver. 2.5 beta
The C-Space Toolkit provides a software library that makes it easier to program motion planning, simulation, robotics, and virtual reality codes using the Configuration Space abstraction. Key functionality (1) enables the user to special create representations of movable and stationary rigid geometric objects, and (2) perform fast distance, interference (clash) detection, collision detection, closest-feature pairs, and contact queries in terms of object configuration. Not only can queries be computed at any given point in configuration space, but they can be done exactly over linear-translational path segments and approximately for rotational path segments. Interference detection and distance computations can be done with respect to the Minkowski sum of the original geometry and a piece of convex geometry. The Toolkit takes as raw model input (1) collections of convex polygons that form the boundaries of models and (2) convex polyhedra, cones, cylinders, and discs that are models and model components. Configurations are given in terms of homogeneous transforms. A simple OpenGL-based system for displaying and animating the geometric objects is included in the implementation. This version, 2.5 Beta, incorporates feature additions and enhancements, improvements in algorithms, improved robustness, bug fixes and cleaned-up source code, better compliance with standards and recent programming convention, changes to the build process for the software, support for more recent hardware and software platforms, and improvements to documentation and source-code comments.
- Short Name / Acronym:
- C-Space ToolkitV2.5b; 001434MLTPL01
- Version:
- 01
- Programming Language(s):
- Medium: X; OS: Windows XP; Linux; Compatibility: Multiplatform
- Research Organization:
- Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
- Sponsoring Organization:
- USDOE
- DOE Contract Number:
- DE-AC04-94AL85000
- OSTI ID:
- 1231292
- Country of Origin:
- United States
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